OSIS

     Autonomous Swarm UAV Systems [Otonom Suru IHA Sistemleri (OSIS) in Turkish] is a proprietary R&D project funded partly by TUBITAK and conducted by MilSOFT.

     I have worked as a Motion Planning/Simulation/System Integration engineer from the beginning of the project and played a crucial role on introducing Robotics know-how to the company, which held no practical or theoretical experience previously. In the context of this project I have:

  • Created DJI M100 HITL stack to test the developed application(s) in Gazebo environment, with pre-made scenarios dedicated to swarm setting.
  • Created a cross-compilation suite for ROS1 to ARM architecture
  • Created a high frequency ad-hoc mesh network using only on-board wifi of Raspberry Pi's.
mesh_network
Setting up an Ad-Hoc Mesh Network with Raspberry Pi 3B+ using BATMAN-Adv
DJI_M100_HITL
Implementing DJI M100 Emulator in ROS-Gazebo for HITL

     Since this is a proprietary project, I can’t share any documents and images nor do I hold any. Above are the Medium posts I have compiled while actively making research and development during the project.